US6957712B2 - Robot cleaner, system employing the same and method for re-connecting to external recharging device - Google Patents
Robot cleaner, system employing the same and method for re-connecting to external recharging device Download PDFInfo
- Publication number
- US6957712B2 US6957712B2 US10/117,925 US11792502A US6957712B2 US 6957712 B2 US6957712 B2 US 6957712B2 US 11792502 A US11792502 A US 11792502A US 6957712 B2 US6957712 B2 US 6957712B2
- Authority
- US
- United States
- Prior art keywords
- robot cleaner
- recharging device
- external recharging
- image
- external
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related, expires
Links
- 238000000034 method Methods 0.000 title abstract description 20
- 238000004140 cleaning Methods 0.000 claims description 12
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000008685 targeting Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (5)
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2001-20753 | 2001-04-18 | ||
KR10-2001-0020753A KR100437157B1 (en) | 2001-04-18 | 2001-04-18 | Robot cleaner and system and method of rejoining the same with external charging apparatus |
KR10-2001-0047288A KR100437362B1 (en) | 2001-08-06 | 2001-08-06 | External charging apparatus of robot cleaner and system employing the same |
KR2001-47287 | 2001-08-06 | ||
KR10-2001-0047287A KR100437159B1 (en) | 2001-08-06 | 2001-08-06 | External charging apparatus and robot cleaner system employing and method of rejoining the same |
KR2001-47288 | 2001-08-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
US20020153185A1 US20020153185A1 (en) | 2002-10-24 |
US6957712B2 true US6957712B2 (en) | 2005-10-25 |
Family
ID=27350451
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/117,925 Expired - Fee Related US6957712B2 (en) | 2001-04-18 | 2002-04-05 | Robot cleaner, system employing the same and method for re-connecting to external recharging device |
Country Status (10)
Country | Link |
---|---|
US (1) | US6957712B2 (en) |
JP (1) | JP3746995B2 (en) |
CN (2) | CN100506141C (en) |
AU (1) | AU767561B2 (en) |
DE (1) | DE10200394A1 (en) |
FR (1) | FR2823869B1 (en) |
GB (1) | GB2376536B (en) |
NL (1) | NL1020120C2 (en) |
RU (1) | RU2218859C2 (en) |
SE (2) | SE523910C2 (en) |
Cited By (131)
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US20050150074A1 (en) * | 2002-07-08 | 2005-07-14 | Alfred Kaercher Gmbh & Co. Kg | Floor treatment system |
US20050279059A1 (en) * | 2004-06-22 | 2005-12-22 | Samsung Electronics Co., Ltd. | Air purifier and control method thereof |
US20060009879A1 (en) * | 2004-06-24 | 2006-01-12 | Lynch James K | Programming and diagnostic tool for a mobile robot |
US20060069507A1 (en) * | 2004-09-15 | 2006-03-30 | Wataru Kokubo | Mobile device and method for controlling the same |
US20060190135A1 (en) * | 2005-02-24 | 2006-08-24 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner and method of control thereof |
US20060186561A1 (en) * | 2005-02-24 | 2006-08-24 | Samsung Gwangju Electronics Co., Ltd. | Mobile robot having a humidifier therein |
US20070100496A1 (en) * | 2003-05-27 | 2007-05-03 | Stockholmsmassan | Robot system, method and computer program product |
US20070233319A1 (en) * | 2006-03-29 | 2007-10-04 | Lg Electronics Inc. | System and method for returning mobile robot to charging stand |
US20080027590A1 (en) * | 2006-07-14 | 2008-01-31 | Emilie Phillips | Autonomous behaviors for a remote vehicle |
US20080042620A1 (en) * | 2006-08-16 | 2008-02-21 | Honda Motor Co., Ltd. | Battery Charger |
US20080133054A1 (en) * | 2006-12-05 | 2008-06-05 | Electronics And Telecommunications Research Institute | Method and apparatus for returning cleaning robot to charge station |
US20090037033A1 (en) * | 2007-05-14 | 2009-02-05 | Emilie Phillips | Autonomous Behaviors for a Remote Vehicle |
US20090194137A1 (en) * | 2008-01-28 | 2009-08-06 | Seegrid Corporation | Service robot and method of operating same |
US20090198380A1 (en) * | 2008-01-28 | 2009-08-06 | Seegrid Corporation | Methods for real-time and near real-time interactions with robots that service a facility |
US20090198376A1 (en) * | 2008-01-28 | 2009-08-06 | Seegrid Corporation | Distributed multi-robot system |
US20090198381A1 (en) * | 2008-01-28 | 2009-08-06 | Seegrid Corporation | Methods for repurposing temporal-spatial information collected by service robots |
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US20110004339A1 (en) * | 2005-12-02 | 2011-01-06 | Irobot Corporation | Autonomous coverage robot navigation system |
US20110106339A1 (en) * | 2006-07-14 | 2011-05-05 | Emilie Phillips | Autonomous Behaviors for a Remote Vehicle |
US20120049798A1 (en) * | 2004-01-21 | 2012-03-01 | Cohen David A | Autonomous robot auto-docking and energy management systems and methods |
US8239992B2 (en) | 2007-05-09 | 2012-08-14 | Irobot Corporation | Compact autonomous coverage robot |
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US8368339B2 (en) | 2001-01-24 | 2013-02-05 | Irobot Corporation | Robot confinement |
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US20140000231A1 (en) * | 2012-06-28 | 2014-01-02 | Fabrizio Bernini | Apparatus for cutting grass |
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CN1226013C (en) | 2005-11-09 |
JP3746995B2 (en) | 2006-02-22 |
DE10200394A1 (en) | 2003-03-06 |
GB2376536A (en) | 2002-12-18 |
JP2002325707A (en) | 2002-11-12 |
SE525628C2 (en) | 2005-03-22 |
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CN100506141C (en) | 2009-07-01 |
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US20020153185A1 (en) | 2002-10-24 |
FR2823869A1 (en) | 2002-10-25 |
NL1020120C2 (en) | 2004-11-24 |
GB2376536B (en) | 2003-05-28 |
RU2218859C2 (en) | 2003-12-20 |
AU767561B2 (en) | 2003-11-13 |
SE0400326D0 (en) | 2004-02-16 |
GB0207634D0 (en) | 2002-05-15 |
CN1401292A (en) | 2003-03-12 |
SE0400326L (en) | 2004-02-16 |
FR2823869B1 (en) | 2005-07-29 |
CN1660007A (en) | 2005-08-31 |
AU9741301A (en) | 2002-10-24 |
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